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(11)

EP 4 498 963 A1

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(43) Date of publication: 05.02.2025 Bulletin 2025/06 (21) Application number: 23717378.6 (22) Date of filing: 21.03.2023

(51) International Patent Classification (IPC):  A61B 34/10(2016.01) G06T 7/10(2017.01) (52) Cooperative Patent Classification (CPC): A61B 2018/00541; A61B 2018/00577; A61B 34/10; A61B 2034/105; A61B 2034/107; A61B 34/20; A61B 2034/2051; A61B 2034/2061; A61B 34/25; A61B 34/30; A61B 2034/104; A61B 18/1492; G06T 7/12; G06T 2207/10068; G06T 2207/30061; G06T 7/0012 (86) International application number: PCT/US2023/064770 (87) International publication number: WO 2023/183806 (28.09.2023 Gazette 2023/39)

(84) Designated Contracting States: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC ME MK MT NL NO PL PT RO RS SE SI SK SM TR Designated Extension States: BA Designated Validation States: KH MA MD TN (30) Priority: 24.03.2022 US 202263323457 P 03.08.2022 US 202263394871 P 03.08.2022 US 202263394873 P (71) Applicant: Intuitive Surgical Operations, Inc. Sunnyvale, CA 94086 (US)

(72) Inventors: WONG, Serena H. Sunnyvale, California 94086 (US) ADEBAR, Troy K. Sunnyvale, California 94086 (US) BARBAGLI, Federico Sunnyvale, California 94086 (US) ZHANG, Hui Sunnyvale, California 94086 (US) (74) Representative: J A Kemp LLP  80 Turnmill Street London EC1M 5QU London EC1M 5QU (GB)